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At urban intersections drivers handle multiple tasks simultaneously, making urban driving a complex task. An advanced driver assistance system may support drivers in this specific driving task, but the design details of such a system need to be determined before they can be fully deployed. A driving simulator experiment was conducted to determine the relationship between different subtasks of driving at urban intersections. Participants completed four drives, each comprising 20 comparable intersections with different traffic situations and encountered one unexpected braking event during the experiment. The effects of varying levels of event urgency on the relationship between different driving subtasks were studied. Furthermore, the influence of workload on this relationship was determined by giving half of the subjects an additional cognitive task. After the lead car braked unexpectedly, participants reduced speed and increased headway depending on the urgency of the braking event. Depending on the workload, participants returned to the normal speed and headway again after a number of intersections. Participants experiencing a high-workload drove more smoothly, except for those who had experienced the most urgent unexpected event. High workload additionally affected the length of the adjustments to the unexpected event.